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  <section id="module-bosdyn.client.math_helpers">
<span id="math-helpers"></span><h1>Math Helpers<a class="headerlink" href="#module-bosdyn.client.math_helpers" title="Permalink to this heading"></a></h1>
<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.recenter_value_mod">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">recenter_value_mod</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">center</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">amplitude</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#recenter_value_mod"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.recenter_value_mod" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.recenter_angle_mod">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">recenter_angle_mod</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">theta</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">center</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#recenter_angle_mod"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.recenter_angle_mod" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.angle_diff">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">angle_diff</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#angle_diff"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.angle_diff" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.angle_diff_degrees">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">angle_diff_degrees</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">a2</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#angle_diff_degrees"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.angle_diff_degrees" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">Vec2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing a two-dimensional vector.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2.length">
<span class="sig-name descname"><span class="pre">length</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2.length"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2.length" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.Vec2 into an output of the protobuf geometry_pb2.Vec2.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2.dot">
<span class="sig-name descname"><span class="pre">dot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2.dot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2.dot" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2.cross">
<span class="sig-name descname"><span class="pre">cross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2.cross"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2.cross" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec2.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec2.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec2.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.Vec2 from a geometry_pb2.Vec2 proto.</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">Vec3</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing a three-dimensional vector.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.length">
<span class="sig-name descname"><span class="pre">length</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.length"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.length" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.Vec3 into an output of the protobuf geometry_pb2.Vec3.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.to_numpy">
<span class="sig-name descname"><span class="pre">to_numpy</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.to_numpy"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.to_numpy" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.Vec3 into an output of numpy format.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.dot">
<span class="sig-name descname"><span class="pre">dot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.dot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.dot" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.cross">
<span class="sig-name descname"><span class="pre">cross</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.cross"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.cross" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.Vec3 from a geometry_pb2.Vec3 proto.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Vec3.from_numpy">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_numpy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">array</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Vec3.from_numpy"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Vec3.from_numpy" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.Vec3 from a numpy array.</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">SE2Pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">angle</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing an SE2Pose with position and angle.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.flatten">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">flatten</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se3pose</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.flatten"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.flatten" title="Permalink to this definition"></a></dt>
<dd><p>Flatten a given SE3Pose to an SE2Pose. This will lose height information
if the se3pose provided is not gravity aligned. The common gravity aligned
frames are odom, vision, and flat_body.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>se3pose (math_helpers.SE3Pose)</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE2Pose representing the flattened se3pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.to_obj">
<span class="sig-name descname"><span class="pre">to_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.to_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.to_obj" title="Permalink to this definition"></a></dt>
<dd><p>Adds the math_helpers.SE2Pose properties into the geometry_pb2.SE2Pose ‘proto’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.SE2Pose into an output of the protobuf geometry_pb2.SE2Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.inverse">
<span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.inverse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.inverse" title="Permalink to this definition"></a></dt>
<dd><p>Compute the inverse of the math_helpers.SE2Pose.</p>
<p>For example, if the SE(2) pose represented a_tform_b, then the inverse pose is b_tform_a.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE2Pose representing the inverse of the current SE(2) Pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.mult">
<span class="sig-name descname"><span class="pre">mult</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se2pose</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.mult"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.mult" title="Permalink to this definition"></a></dt>
<dd><p>Computes the multiplication between the current math_helpers.SE2Pose and the input se2pose.</p>
<p>For example, if the ‘self’ SE2Pose represents a_tform_b and the input se2pose represents b_tform_c,
then the output will represent the transform a_tform_c.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>se2pose (math_helpers.se2pose)</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.se2pose representing the multiplication of two SE(2) poses.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.to_rot_matrix">
<span class="sig-name descname"><span class="pre">to_rot_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.to_rot_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.to_rot_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Returns the rotation matrix generate from the angle of the current SE(2) Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.to_matrix">
<span class="sig-name descname"><span class="pre">to_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.to_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.to_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Returns the 3x3 matrix to transform a 2D point (in generalized coordinates).</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.to_adjoint_matrix">
<span class="sig-name descname"><span class="pre">to_adjoint_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.to_adjoint_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.to_adjoint_matrix" title="Permalink to this definition"></a></dt>
<dd><p>This creates the adjoint matrix for the current SE2Pose.</p>
<p>The adjoint matrix can be used to change reference frames for a SE(2) velocity vector. For
example, if you have math_helpers.SE2Velocity velocity_in_frame_b, then the adjoint matrix
for the math_helpers.SE2Pose (representing a_tform_b) can be used as follows to transform
the velocity: velocity_in_frame_a = a_tform_b.to_adjoint_matrix() * velocity_in_frame_b</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>a_adjoint_b (Numpy 3x3 matrix) representing the adjoint matrix for the SE2Pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.position">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">position</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.position" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘position’ similar to
the geometry_pb2.SE2Pose for the math_helper.SE2Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.from_matrix">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mat</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.from_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Extract SE2Pose from a 3x3 matrix</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.from_obj">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tform</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.from_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.from_obj" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.1.0: </span>Use from_proto instead.</p>
</div>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tform</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.SE2Pose from a geometry_pb2.SE2Pose proto.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Pose.get_closest_se3_transform">
<span class="sig-name descname"><span class="pre">get_closest_se3_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">height_z</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Pose.get_closest_se3_transform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Pose.get_closest_se3_transform" title="Permalink to this definition"></a></dt>
<dd><p>Compute the closest math_helpers.SE3Pose from the current math_helpers.SE2Pose.</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">SE2Velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">angular</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing an SE2Velocity with linear velocity and angular velocity.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.to_obj">
<span class="sig-name descname"><span class="pre">to_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.to_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.to_obj" title="Permalink to this definition"></a></dt>
<dd><p>Adds the math_helpers.SE2Velocity properties into the geometry_pb2.SE2Velocity ‘proto’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.SE2Velocity into an output of the protobuf geometry_pb2.SE2Velocity.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.to_vector">
<span class="sig-name descname"><span class="pre">to_vector</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.to_vector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.to_vector" title="Permalink to this definition"></a></dt>
<dd><p>Creates a 3x1 velocity vector as a numpy array.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.from_vector">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_vector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se2_vel_vector</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.from_vector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.from_vector" title="Permalink to this definition"></a></dt>
<dd><p>Converts a 3x1 velocity vector (of either a numpy array or a list) into a math_helpers.SE2Velocity object.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.linear">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">linear</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.linear" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘linear’ similar to the geometry_pb2.SE2Velocity
for the math_helper.SE2Velocity.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.angular">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">angular</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.angular" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘angular’ similar to the geometry_pb2.SE2Velocity
for the math_helper.SE2Velocity.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.from_obj">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vel</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.from_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.from_obj" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.1.0: </span>Use from_proto instead.</p>
</div>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE2Velocity.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vel</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE2Velocity.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE2Velocity.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.SE2Velocity from a geometry_pb2.SE2Velocity proto.</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">SE3Velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">lin_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lin_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lin_z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ang_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ang_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ang_z</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing an SE3Velocity with linear velocity and angular velocity.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.to_obj">
<span class="sig-name descname"><span class="pre">to_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.to_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.to_obj" title="Permalink to this definition"></a></dt>
<dd><p>Adds the math_helpers.SE3Velocity properties into the geometry_pb2.SE3Velocity ‘proto’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.SE3Velocity into an output of the protobuf geometry_pb2.SE3Velocity.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.to_vector">
<span class="sig-name descname"><span class="pre">to_vector</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.to_vector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.to_vector" title="Permalink to this definition"></a></dt>
<dd><p>Creates a 6x1 velocity vector as a numpy array.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.linear">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">linear</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.linear" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘linear’ similar to the geometry_pb2.SE3Velocity
for the math_helper.SE3Velocity.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.angular">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">angular</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.angular" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘angular’ similar to the geometry_pb2.SE3Velocity
for the math_helper.SE3Velocity.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.from_obj">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vel</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.from_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.from_obj" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.1.0: </span>Use from_proto instead.</p>
</div>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vel</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.SE3Velocity from a geometry_pb2.SE3Velocity proto.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Velocity.from_vector">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_vector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se3_vel_vector</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Velocity.from_vector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Velocity.from_vector" title="Permalink to this definition"></a></dt>
<dd><p>Converts a 6x1 velocity vector (of either a numpy array or a list) into a math_helpers.SE3Velocity object.</p>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">SE3Pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing an SE3Pose with position and rotation.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.from_obj">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tform</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.from_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.from_obj" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.1.0: </span>Use from_proto instead.</p>
</div>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tform</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.SE3Pose from a geometry_pb2.SE3Pose proto.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.from_se2">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_se2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tform</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.from_se2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.from_se2" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.to_obj">
<span class="sig-name descname"><span class="pre">to_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.to_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.to_obj" title="Permalink to this definition"></a></dt>
<dd><p>Adds the math_helpers.SE3Pose properties into the geometry_pb2.SE3Pose ‘proto’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.SE3Pose into an output of the protobuf geometry_pb2.SE3Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.inverse">
<span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.inverse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.inverse" title="Permalink to this definition"></a></dt>
<dd><p>Compute the inverse of the math_helpers.SE3Pose.</p>
<p>For example, if the SE(3) pose represented a_tform_b, then the inverse pose is b_tform_a.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE3Pose representing the inverse of the current SE(3) Pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.transform_point">
<span class="sig-name descname"><span class="pre">transform_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.transform_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.transform_point" title="Permalink to this definition"></a></dt>
<dd><p>Compute the transformation (translation and rotation) of a (x,y,z) vector using the
current SE(3) pose.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>tuple (size 3) representing the transformed coordinate.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.transform_vec3">
<span class="sig-name descname"><span class="pre">transform_vec3</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vec3</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.transform_vec3"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.transform_vec3" title="Permalink to this definition"></a></dt>
<dd><p>Compute the transformation (translation and rotation) of a (x,y,z) vector using the
current SE(3) pose.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Vec3 representing the transformed coordinate.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.transform_cloud">
<span class="sig-name descname"><span class="pre">transform_cloud</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.transform_cloud"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.transform_cloud" title="Permalink to this definition"></a></dt>
<dd><p>Compute the transformation (translation and rotation) of multiple vector/points using the
current math_helpers.SE3Pose.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>points (Nx3 numpy matrix) representing a set of (x,y,z) points to be transformed</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Nx3 numpy matrix of the points after they are transformed with the current math_helpers.SE3Pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.transform_cloud_from_matrix">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">transform_cloud_from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transform</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">points</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.transform_cloud_from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.transform_cloud_from_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Compute the transformation (translation and rotation) of multiple vector/points using the
input SE(3) pose.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>transform (4x4 numpy matrix) representing the SE3Pose to be used to transform.
points (Nx3 numpy matrix) representing a set of (x,y,z) points to be transformed</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Nx3 numpy matrix of the points after they are transformed.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.to_matrix">
<span class="sig-name descname"><span class="pre">to_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.to_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.to_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Returns the 4x4 matrix to transform a 3D point (in generalized coordinates).</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.translation_norm">
<span class="sig-name descname"><span class="pre">translation_norm</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.translation_norm"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.translation_norm" title="Permalink to this definition"></a></dt>
<dd><p>Calculates the Euclidean norm (magnitude) of the translation component pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.mult">
<span class="sig-name descname"><span class="pre">mult</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se3pose</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.mult"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.mult" title="Permalink to this definition"></a></dt>
<dd><p>Computes the multiplication between the current math_helpers.SE3Pose and the input se3pose.</p>
<p>For example, if the ‘self’ SE3Pose represents a_tform_b and the input se3pose represents b_tform_c,
then the output will represent the transform a_tform_c.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>se3pose (math_helpers.SE3Pose)</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE3Pose representing the multiplication of two SE(3) poses.</p>
</dd>
</dl>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.position">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">position</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.position" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘position’ similar to the geometry_pb2.SE3Pose
for the math_helper.SE3Pose.</p>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.rotation">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">rotation</span></span><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.rotation" title="Permalink to this definition"></a></dt>
<dd><p>Property to allow attribute access of the protobuf message field ‘rotation’ similar to the geometry_pb2.SE3Pose
for the math_helper.SE3Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.from_matrix">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mat</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.from_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Extract math_helpers.SE3Pose from a 4x4 matrix.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.from_identity">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_identity</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.from_identity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.from_identity" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.SE3Pose representing the identity SE(3) pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.get_translation">
<span class="sig-name descname"><span class="pre">get_translation</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.get_translation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.get_translation" title="Permalink to this definition"></a></dt>
<dd><p>Returns a 3x1 numpy array representing the translation only of the current SE3Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.to_adjoint_matrix">
<span class="sig-name descname"><span class="pre">to_adjoint_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.to_adjoint_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.to_adjoint_matrix" title="Permalink to this definition"></a></dt>
<dd><p>This creates the adjoint matrix for the current SE3Pose.</p>
<p>The adjoint matrix can be used to change reference frames for a SE(3) velocity vector. For
example, if you have math_helpers.SE3Velocity velocity_in_frame_b, then the adjoint matrix
for the math_helpers.SE3Pose (representing a_tform_b) can be used as follows to transform
the velocity: velocity_in_frame_a = a_tform_b.to_adjoint_matrix() * velocity_in_frame_b</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>a_adjoint_b (Numpy 6x6 matrix) representing the adjoint matrix for the SE3Pose.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.get_closest_se2_transform">
<span class="sig-name descname"><span class="pre">get_closest_se2_transform</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.get_closest_se2_transform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.get_closest_se2_transform" title="Permalink to this definition"></a></dt>
<dd><p>Compute the closest math_helpers.SE2Pose from the current math_helpers.SE3Pose.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.SE3Pose.interp">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">interp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fraction</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#SE3Pose.interp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.SE3Pose.interp" title="Permalink to this definition"></a></dt>
<dd><p>Performs a blend of two SE3Poses.  Out = a * (1 - fraction) + b * fraction</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>a</strong> (<a class="reference internal" href="#bosdyn.client.math_helpers.SE3Pose" title="bosdyn.client.math_helpers.SE3Pose"><em>SE3Pose</em></a>) – Lower blend input.</p></li>
<li><p><strong>b</strong> (<a class="reference internal" href="#bosdyn.client.math_helpers.SE3Pose" title="bosdyn.client.math_helpers.SE3Pose"><em>SE3Pose</em></a>) – Upper blend input.</p></li>
<li><p><strong>fraction</strong> (<em>float</em>) – The blending factor.  Should be inside [0, 1]</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>SE3Pose</p>
</dd>
</dl>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">Quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">w</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>Class representing a Quaternion.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.inverse">
<span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.inverse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.inverse" title="Permalink to this definition"></a></dt>
<dd><p>Computes the inverse of the current math_helpers.Quat.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.transform_point">
<span class="sig-name descname"><span class="pre">transform_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.transform_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.transform_point" title="Permalink to this definition"></a></dt>
<dd><p>Computes the transformation (rotation by the quaternion) of a single (x,y,z)
point using the current math_helpers.Quat.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.transform_vec3">
<span class="sig-name descname"><span class="pre">transform_vec3</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vec3</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.transform_vec3"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.transform_vec3" title="Permalink to this definition"></a></dt>
<dd><p>Computes the transformation (rotation by the quaternion) of a Vec3
point using the current math_helpers.Quat.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_matrix">
<span class="sig-name descname"><span class="pre">to_matrix</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Creates the 3x3 numpy rotation matrix from the current math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_matrix">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rot</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Creates a math_helpers.Quat from a numpy 3x3 matrix representing rotation.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_roll">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_roll</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_roll"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_roll" title="Permalink to this definition"></a></dt>
<dd><p>Computes a representative math_helpers.Quat from the Euler angle for roll.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_pitch">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_pitch</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_pitch"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_pitch" title="Permalink to this definition"></a></dt>
<dd><p>Computes a representative math_helpers.Quat from the Euler angle for pitch.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_yaw">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_yaw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_yaw"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_yaw" title="Permalink to this definition"></a></dt>
<dd><p>Computes a representative math_helpers.Quat from the Euler angle for yaw.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_roll">
<span class="sig-name descname"><span class="pre">to_roll</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_roll"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_roll" title="Permalink to this definition"></a></dt>
<dd><p>Computes the Euler angle roll from the current math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_pitch">
<span class="sig-name descname"><span class="pre">to_pitch</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_pitch"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_pitch" title="Permalink to this definition"></a></dt>
<dd><p>Computes the Euler angle pitch from the current math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_yaw">
<span class="sig-name descname"><span class="pre">to_yaw</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_yaw"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_yaw" title="Permalink to this definition"></a></dt>
<dd><p>Computes the Euler angle yaw from the current math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_axis_angle">
<span class="sig-name descname"><span class="pre">to_axis_angle</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_axis_angle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_axis_angle" title="Permalink to this definition"></a></dt>
<dd><p>Computes the angle and the respective axis from the math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_obj">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_obj" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.1.0: </span>Use from_proto instead.</p>
</div>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_proto">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Create a math_helpers.Quat from a geometry_pb2.Quaternion proto.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_obj">
<span class="sig-name descname"><span class="pre">to_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_obj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_obj" title="Permalink to this definition"></a></dt>
<dd><p>Adds the math_helpers.Quat properties into the geometry_pb2.Quaternion ‘proto’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.to_proto">
<span class="sig-name descname"><span class="pre">to_proto</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.to_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.to_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts the math_helpers.Quat into an output of the protobuf geometry_pb2.Quaternion.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.mult">
<span class="sig-name descname"><span class="pre">mult</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other_quat</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.mult"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.mult" title="Permalink to this definition"></a></dt>
<dd><p>Computes the multiplication of two math_helpers.Quats.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.normalize">
<span class="sig-name descname"><span class="pre">normalize</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.normalize"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.normalize" title="Permalink to this definition"></a></dt>
<dd><p>Normalizes the quaternion.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.closest_yaw_only_quaternion">
<span class="sig-name descname"><span class="pre">closest_yaw_only_quaternion</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.closest_yaw_only_quaternion"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.closest_yaw_only_quaternion" title="Permalink to this definition"></a></dt>
<dd><p>Computes a yaw-only math_helpers.Quat from the current roll/pitch/yaw math_helpers.Quat</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.slerp">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">slerp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">b</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fraction</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.slerp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.slerp" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.from_two_vectors">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_two_vectors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">u_in</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#bosdyn.client.math_helpers.Vec3" title="bosdyn.client.math_helpers.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_in</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#bosdyn.client.math_helpers.Vec3" title="bosdyn.client.math_helpers.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.from_two_vectors"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.from_two_vectors" title="Permalink to this definition"></a></dt>
<dd><p>Returns a quaternion representing the rotation from u to v.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.Quat.conj">
<span class="sig-name descname"><span class="pre">conj</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#Quat.conj"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.Quat.conj" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.pose_to_xyz_yaw">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">pose_to_xyz_yaw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">A_tform_B</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#pose_to_xyz_yaw"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.pose_to_xyz_yaw" title="Permalink to this definition"></a></dt>
<dd><p>Gets the x,y,z yaw of B in A from the SE3Pose protobuf message.</p>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.is_within_threshold">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">is_within_threshold</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pose_3d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_translation_meters</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_yaw_degrees</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#is_within_threshold"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.is_within_threshold" title="Permalink to this definition"></a></dt>
<dd><p>Determines whether the given SE3 pose is small enough in X, Y, and theta.</p>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.recenter_angle">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">recenter_angle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower_limit</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper_limit</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#recenter_angle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.recenter_angle" title="Permalink to this definition"></a></dt>
<dd><div class="deprecated">
<p><span class="versionmodified deprecated">Deprecated since version 3.2.0: </span>Use recenter_angle_mod or recenter_value_mod instead.</p>
</div>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.skew_matrix_3d">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">skew_matrix_3d</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vec3_proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#skew_matrix_3d"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.skew_matrix_3d" title="Permalink to this definition"></a></dt>
<dd><p>Creates a 3x3 numpy matrix representing the skew symmetric matrix for a vec3.
These are used to create the adjoint matrices for SE3Pose’s, among other things.</p>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.skew_matrix_2d">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">skew_matrix_2d</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vec2_proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#skew_matrix_2d"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.skew_matrix_2d" title="Permalink to this definition"></a></dt>
<dd><p>Creates a 2x1 numpy matrix representing the skew symmetric matrix for a vec2.
These are used to create the adjoint matrices for SE2Pose’s, among other things.</p>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.matrix_from_proto">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">matrix_from_proto</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">proto</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#matrix_from_proto"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.matrix_from_proto" title="Permalink to this definition"></a></dt>
<dd><p>Converts a geometry_pb2.Matrix or geometry_pb2.Matrixf to a numpy array.</p>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.transform_se2velocity">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">transform_se2velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a_adjoint_b_matrix</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">se2_velocity_in_b</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#transform_se2velocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.transform_se2velocity" title="Permalink to this definition"></a></dt>
<dd><p>Changes the frame that the SE(2) Velocity is expressed in. More specifically, it converts the
SE(2) Velocity in frame b to a SE(2) Velocity in frame c using the adjoint matrix a_adjoint_b.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>a_adjoint_b_matrix (3x3 numpy matrix)
se2_velocity_in_b (geometry_pb2.SE2Velocity OR math_helpers.SE2Velocity) described in frame B.</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE2Velocity described in frame a. None if the input velocity is an unknown type.</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.transform_se3velocity">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">transform_se3velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">a_adjoint_b_matrix</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">se3_velocity_in_b</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#transform_se3velocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.transform_se3velocity" title="Permalink to this definition"></a></dt>
<dd><p>Changes the frame that the SE(3) Velocity is expressed in. More specifically, it converts the
SE(3) Velocity in frame b to a SE(3) Velocity in frame c using the adjoint matrix a_adjoint_b.</p>
<dl class="simple">
<dt>Inputs:</dt><dd><p>a_adjoint_b_matrix (6x6 numpy matrix)
se3_velocity_in_b (geometry_pb2.SE3Velocity OR math_helpers.SE3Velocity) described in frame B.</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>math_helpers.SE3Velocity described in frame a. None if the input velocity is an unknown type.</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.math_helpers.quat_to_eulerZYX">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.math_helpers.</span></span><span class="sig-name descname"><span class="pre">quat_to_eulerZYX</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/math_helpers.html#quat_to_eulerZYX"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.math_helpers.quat_to_eulerZYX" title="Permalink to this definition"></a></dt>
<dd><p>Convert a Quat object into Euler yaw, pitch, roll angles (radians).</p>
</dd></dl>

</section>


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